/***************************************************************************\
 * Copyright (C) by Keio University
 * RGBDRegistration.hpp created in 10 2012.
 * Mail : fdesorbi@hvrl.ics.keio.ac.jp
 *
 * RGBDRegistration.hpp is part of the HVRL Engine Project.
 *
 * The HVRL Engine Project is free software; you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * The HVRL Engine Project is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 \***************************************************************************/

#ifndef _RGBD_REGISTRATION_HPP__
#define _RGBD_REGISTRATION_HPP__

#include <opencv2/opencv.hpp>
#include <string>

namespace hvrl {

namespace tools {

/**
 * \brief compute the correspondences between two input images
 *
 * \param colorimageA the first input colour image
 * \param colorimageB the second input colour image
 * \param matches the result of the correspondence matching between both images
 * \param keypointsA the list of keypoints obtained in the first color image
 * \param keypointsB the list of keypoints obtained in the second color image
 * \param method defines the method used for detecting and extracting the feature points in both images. Possible methods are "FAST", "STAR", "SIFT", "SURF", "ORB", "MSER", "GFTT", "HARRIS", "Dense", "SimpleBlob"
 * \param methodmatcher defines the method used for matching features from both images. Possible methods are "BruteForce" "BruteForce-L1" "BruteForce-Hamming" "BruteForce-Hamming(2)" "FlannBased"
 * \param useCCF defines if a cross check matching needs to be applied or not
 * \return true if correspondences could be evaluated, otherwise false
 * \author Francois de Sorbier
 */
bool getCorrespondences(const cv::Mat3b& colorimageA,
		const cv::Mat3b& colorimageB, std::vector<cv::DMatch>& matches,
		std::vector<cv::KeyPoint>& keypointsA,
		std::vector<cv::KeyPoint>& keypointsB, const std::string& method =
				"SURF", const std::string& methodextractor = "SURF", const std::string& methodmatcher = "FlannBased",
		const bool& useCCF = true);

/**
 * \brief compute the correspondences between one image and precomputed features
 *
 * \param colorimageA the first input colour image
 * \param descriptorsB the descriptors precomputed from a previous image
 * \param keypointsA the list of keypoints obtained in the first color image
 * \param matches the result of the correspondence matching between both images
 * \param methoddetector defines the method used for detecting the feature points in both images. Possible methods are "FAST", "STAR", "SIFT", "SURF", "ORB", "MSER", "GFTT", "HARRIS", "Dense", "SimpleBlob"
 * \param methodextractor defines the method used for extracting the feature points in both images. Possible methods are "BRIEF", "ORB", "SIFT", "SURF"
 * \param methodmatcher defines the method used for matching features from both images. Possible methods are "BruteForce" "BruteForce-L1" "BruteForce-Hamming" "BruteForce-Hamming(2)" "FlannBased"
 * \param useCCF defines if a cross check matching needs to be applied or not
 * \return true if correspondences could be evaluated, otherwise false
 * \author Francois de Sorbier
 */
bool getCorrespondencesWithDescriptors(const cv::Mat3b& colorimageA,
		const cv::Mat& descriptorsB, std::vector<cv::DMatch>& matches,
		std::vector<cv::KeyPoint>& keypointsA, const std::string& methoddetector = "SURF", const std::string& methodextractor = "SURF",
		const std::string& methodmatcher = "FlannBased", const bool& useCCF =
				true);

bool computeRigidTransformationWithRANSAC(const RGBDImage* sourceColor,
		const RGBDImage* targetColor, const PointCloud *sourcepc,
		const PointCloud *targetpc, cv::Mat& R, cv::Vec3f& t,
		const std::string& methoddetector = "SURF", const std::string& methodextractor = "SURF", const std::string& methodmatcher =
				"FlannBased", const bool& useCCF = true, const unsigned int& iterations = 100);

}

}

#endif
